#ifndef __ELCTR_H
#define __ELCTR_H

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <ctype.h>
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <time.h>
#include <malloc.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <sys/timeb.h>
#include <sys/times.h>
#include <sys/wait.h>
#include <fcntl.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <dirent.h>
#include <pthread.h>
#include <signal.h>
#include <semaphore.h>
#include <linux/mman.h>
#include <linux/types.h>
#include <errno.h>
#include <sched.h>


#include "../defines.h"

#ifndef __ELTEL_H
#define IF_SERIAL      		1
#define IF_PARALLEL    		2
#define IF_PARALLELSUBRAW	0
#define IF_PARALLELSUBSMC	1
#endif


#define IF_INPUTSERIAL		1
#define IF_INPUTPARALLEL    2
#define IF_INPUTJOYSTICK    3


typedef struct elctrvalues {
	int run;
	int connection;
	int motorrun;
	int motorspeed;
	int loopbusy;
	unsigned char event;
	
	int iftype;
	int inputiftype;
	int keypad;

	double timerintct_goto;
	double timerintct_correction;
	double az_gotospeed;
	double alt_gotospeed;
	double fr_gotospeed;
	double az_correctionspeed;
	double alt_correctionspeed;
	double fr_correctionspeed;

	double lastazhs;
	double lastalths;
	double lastfrhs;
	
	int fruse;
	int azleft;
	int altdown;
	int frleft;
	
	int debug;


	double hs_az360;
	double hs_az270;
	double hs_az180;
	double hs_az90;
	
	double hs_altlb;
	double hs_altub;
	double hs_alt180;
	double hs_alt90;
	
	double hs_fr360;

	double ms_perhsfr360;

	pid_t pid;
	uid_t uid;

} elctrvalues;
extern elctrvalues elctr;




/*----- elctrif.c ------------*/

extern void ctrif_waitmicrosecs( long ms );
extern void ctrif_waitmillisecs( long ms );
extern int ctrif_StartConnection( void );
extern int ctrif_StopConnection( void );
extern int ctrif_StopMotors( void );
extern double ctrif_GetCurrentAzHS( void );
extern double ctrif_GetCurrentAltHS(void );
extern double ctrif_GetCurrentFrHS(void );
extern int ctrif_GoLeft_Fast( void );
extern int ctrif_GoUp_Fast( void );
extern int ctrif_GoDown_Fast(void );
extern int ctrif_GoRight_Fast( void );
extern int ctrif_GoLeft_Slow( void );
extern int ctrif_GoUp_Slow( void );
extern int ctrif_GoDown_Slow( void );
extern int ctrif_GoRight_Slow( void );
extern int ctrif_FrTurnRight(void );
extern int ctrif_FrTurnLeft( void );
extern int ctrif_Move( int speed,int az, int azdir,int alt, int altdir,int fr, int frdir );
extern int ctrif_AltAzGoto( double azhs, double alths);
extern int ctrif_AltAzOrigin( double azhs, double alths );
extern unsigned char ctrif_Get4InputSignals(void);
extern int ctrif_Step( int answer, int az, int azleft, int alt, int altdown, int fr, int frleft, double * azhs, double * alths, long ms );




/*----- config.c -------------*/
extern int ctrparsecommandline(int argc, char * argv[]);
extern int ctrreadconfigfile( char *filename );


/*----- elctr.c --------------*/
extern void ctrendall( void );
extern int ctrstartall( int threaded );



/*----- loop.c ---------------*/

extern void ctrWaitTillLoopFree(void);
extern void ctrDoLoopEvent( unsigned char event );


typedef void (* ELCTRKEYPADCALLBACK )( void );

/*sets callback, for event keypad - key follow*/

extern void ctrSetCB_kp_follow( ELCTRKEYPADCALLBACK cb );

/*sets callback, for event keypad - key high, and follow togheter*/

extern void ctrSetCB_kp_high_follow( ELCTRKEYPADCALLBACK cb );

/*sets callback, for a every-time-action function, wich is called, if no event present*/

extern void ctrSetCB_noevent( ELCTRKEYPADCALLBACK cb );


#endif